"Ext. Position mode" operating mode
Properties
- Position control
- Field-oriented control
- Position specification via the variable "Position" in process data object STM Position.
Possible "Predefined PDO Assignments"
Parameter
Index | Name | Description | Unit | Data type | Default value |
|---|---|---|---|---|---|
8010:03 | Nominal voltage | The DC link voltage UP | 10 mV | UINT | 5000dec |
8010:04 | Motor coil resistance | The winding resistance of the motor. | 0.01 Ω | UINT | 100dec |
8010:07 | Encoder increments (4-fold) | Number of encoder increments per revolution with 4-fold evaluation. | - | UINT | 4096dec |
8011:01 | Kp factor (curr.) | Proportional component of the current controller |
| UINT | 150dec |
8011:02 | Ki factor (curr.) | Integral component of the current controller |
| UINT | 10dec |
8014:01 | Feed forward (pos.) | Pre-control of the position controller. |
| UDINT | 100000dec |
8014:02 | Kp factor (pos.) | Proportional component of the position controller. |
| UINT | 500dec |
8014:03 | Kp factor (velo.) | Proportional component of the velocity controller. | 0.1 mA / (rad/s) | UDINT | 50dec |
8014:04 | Tn (velo.) | Time constant Tn of the velocity controller. | 0.01 ms | UINT | 50000dec |